Bruno Manganelli / Mbed 2 deprecated Adafruit9-DOf

Port of Adafruit Arduino code

Dependencies:   mbed

Header/Adafruit_LSM303_U.h@0:772bf4786416, 2015-03-21 (annotated)

Committer:
bmanga95
Date:
Sat Mar 21 12:33:05 2015 +0000
Revision:
0:772bf4786416
First version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bmanga95 0:772bf4786416 1 /***************************************************************************
bmanga95 0:772bf4786416 2 This is a library for the LSM303 Accelerometer and magnentometer/compass
bmanga95 0:772bf4786416 3
bmanga95 0:772bf4786416 4 Designed specifically to work with the Adafruit LSM303DLHC Breakout
bmanga95 0:772bf4786416 5
bmanga95 0:772bf4786416 6 These displays use I2C to communicate, 2 pins are required to interface.
bmanga95 0:772bf4786416 7
bmanga95 0:772bf4786416 8 Adafruit invests time and resources providing this open source code,
bmanga95 0:772bf4786416 9 please support Adafruit andopen-source hardware by purchasing products
bmanga95 0:772bf4786416 10 from Adafruit!
bmanga95 0:772bf4786416 11
bmanga95 0:772bf4786416 12 Written by Kevin Townsend for Adafruit Industries.
bmanga95 0:772bf4786416 13 BSD license, all text above must be included in any redistribution
bmanga95 0:772bf4786416 14 ***************************************************************************/
bmanga95 0:772bf4786416 15 #ifndef __LSM303_H__
bmanga95 0:772bf4786416 16 #define __LSM303_H__
bmanga95 0:772bf4786416 17
bmanga95 0:772bf4786416 18 #include <Adafruit_Sensor.h>
bmanga95 0:772bf4786416 19 #include "I2C_base.h"
bmanga95 0:772bf4786416 20
bmanga95 0:772bf4786416 21 /*=========================================================================
bmanga95 0:772bf4786416 22 I2C ADDRESS/BITS
bmanga95 0:772bf4786416 23 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 24 #define LSM303_ADDRESS_ACCEL (0x32 >> 1) // 0011001x
bmanga95 0:772bf4786416 25 #define LSM303_ADDRESS_MAG (0x3C >> 1) // 0011110x
bmanga95 0:772bf4786416 26 /*=========================================================================*/
bmanga95 0:772bf4786416 27
bmanga95 0:772bf4786416 28 /*=========================================================================
bmanga95 0:772bf4786416 29 REGISTERS
bmanga95 0:772bf4786416 30 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 31 typedef enum
bmanga95 0:772bf4786416 32 { // DEFAULT TYPE
bmanga95 0:772bf4786416 33 LSM303_REGISTER_ACCEL_CTRL_REG1_A = 0x20, // 00000111 rw
bmanga95 0:772bf4786416 34 LSM303_REGISTER_ACCEL_CTRL_REG2_A = 0x21, // 00000000 rw
bmanga95 0:772bf4786416 35 LSM303_REGISTER_ACCEL_CTRL_REG3_A = 0x22, // 00000000 rw
bmanga95 0:772bf4786416 36 LSM303_REGISTER_ACCEL_CTRL_REG4_A = 0x23, // 00000000 rw
bmanga95 0:772bf4786416 37 LSM303_REGISTER_ACCEL_CTRL_REG5_A = 0x24, // 00000000 rw
bmanga95 0:772bf4786416 38 LSM303_REGISTER_ACCEL_CTRL_REG6_A = 0x25, // 00000000 rw
bmanga95 0:772bf4786416 39 LSM303_REGISTER_ACCEL_REFERENCE_A = 0x26, // 00000000 r
bmanga95 0:772bf4786416 40 LSM303_REGISTER_ACCEL_STATUS_REG_A = 0x27, // 00000000 r
bmanga95 0:772bf4786416 41 LSM303_REGISTER_ACCEL_OUT_X_L_A = 0x28,
bmanga95 0:772bf4786416 42 LSM303_REGISTER_ACCEL_OUT_X_H_A = 0x29,
bmanga95 0:772bf4786416 43 LSM303_REGISTER_ACCEL_OUT_Y_L_A = 0x2A,
bmanga95 0:772bf4786416 44 LSM303_REGISTER_ACCEL_OUT_Y_H_A = 0x2B,
bmanga95 0:772bf4786416 45 LSM303_REGISTER_ACCEL_OUT_Z_L_A = 0x2C,
bmanga95 0:772bf4786416 46 LSM303_REGISTER_ACCEL_OUT_Z_H_A = 0x2D,
bmanga95 0:772bf4786416 47 LSM303_REGISTER_ACCEL_FIFO_CTRL_REG_A = 0x2E,
bmanga95 0:772bf4786416 48 LSM303_REGISTER_ACCEL_FIFO_SRC_REG_A = 0x2F,
bmanga95 0:772bf4786416 49 LSM303_REGISTER_ACCEL_INT1_CFG_A = 0x30,
bmanga95 0:772bf4786416 50 LSM303_REGISTER_ACCEL_INT1_SOURCE_A = 0x31,
bmanga95 0:772bf4786416 51 LSM303_REGISTER_ACCEL_INT1_THS_A = 0x32,
bmanga95 0:772bf4786416 52 LSM303_REGISTER_ACCEL_INT1_DURATION_A = 0x33,
bmanga95 0:772bf4786416 53 LSM303_REGISTER_ACCEL_INT2_CFG_A = 0x34,
bmanga95 0:772bf4786416 54 LSM303_REGISTER_ACCEL_INT2_SOURCE_A = 0x35,
bmanga95 0:772bf4786416 55 LSM303_REGISTER_ACCEL_INT2_THS_A = 0x36,
bmanga95 0:772bf4786416 56 LSM303_REGISTER_ACCEL_INT2_DURATION_A = 0x37,
bmanga95 0:772bf4786416 57 LSM303_REGISTER_ACCEL_CLICK_CFG_A = 0x38,
bmanga95 0:772bf4786416 58 LSM303_REGISTER_ACCEL_CLICK_SRC_A = 0x39,
bmanga95 0:772bf4786416 59 LSM303_REGISTER_ACCEL_CLICK_THS_A = 0x3A,
bmanga95 0:772bf4786416 60 LSM303_REGISTER_ACCEL_TIME_LIMIT_A = 0x3B,
bmanga95 0:772bf4786416 61 LSM303_REGISTER_ACCEL_TIME_LATENCY_A = 0x3C,
bmanga95 0:772bf4786416 62 LSM303_REGISTER_ACCEL_TIME_WINDOW_A = 0x3D
bmanga95 0:772bf4786416 63 } lsm303AccelRegisters_t;
bmanga95 0:772bf4786416 64
bmanga95 0:772bf4786416 65 typedef enum
bmanga95 0:772bf4786416 66 {
bmanga95 0:772bf4786416 67 LSM303_REGISTER_MAG_CRA_REG_M = 0x00,
bmanga95 0:772bf4786416 68 LSM303_REGISTER_MAG_CRB_REG_M = 0x01,
bmanga95 0:772bf4786416 69 LSM303_REGISTER_MAG_MR_REG_M = 0x02,
bmanga95 0:772bf4786416 70 LSM303_REGISTER_MAG_OUT_X_H_M = 0x03,
bmanga95 0:772bf4786416 71 LSM303_REGISTER_MAG_OUT_X_L_M = 0x04,
bmanga95 0:772bf4786416 72 LSM303_REGISTER_MAG_OUT_Z_H_M = 0x05,
bmanga95 0:772bf4786416 73 LSM303_REGISTER_MAG_OUT_Z_L_M = 0x06,
bmanga95 0:772bf4786416 74 LSM303_REGISTER_MAG_OUT_Y_H_M = 0x07,
bmanga95 0:772bf4786416 75 LSM303_REGISTER_MAG_OUT_Y_L_M = 0x08,
bmanga95 0:772bf4786416 76 LSM303_REGISTER_MAG_SR_REG_Mg = 0x09,
bmanga95 0:772bf4786416 77 LSM303_REGISTER_MAG_IRA_REG_M = 0x0A,
bmanga95 0:772bf4786416 78 LSM303_REGISTER_MAG_IRB_REG_M = 0x0B,
bmanga95 0:772bf4786416 79 LSM303_REGISTER_MAG_IRC_REG_M = 0x0C,
bmanga95 0:772bf4786416 80 LSM303_REGISTER_MAG_TEMP_OUT_H_M = 0x31,
bmanga95 0:772bf4786416 81 LSM303_REGISTER_MAG_TEMP_OUT_L_M = 0x32
bmanga95 0:772bf4786416 82 } lsm303MagRegisters_t;
bmanga95 0:772bf4786416 83 /*=========================================================================*/
bmanga95 0:772bf4786416 84
bmanga95 0:772bf4786416 85 /*=========================================================================
bmanga95 0:772bf4786416 86 MAGNETOMETER GAIN SETTINGS
bmanga95 0:772bf4786416 87 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 88 typedef enum
bmanga95 0:772bf4786416 89 {
bmanga95 0:772bf4786416 90 LSM303_MAGGAIN_1_3 = 0x20, // +/- 1.3
bmanga95 0:772bf4786416 91 LSM303_MAGGAIN_1_9 = 0x40, // +/- 1.9
bmanga95 0:772bf4786416 92 LSM303_MAGGAIN_2_5 = 0x60, // +/- 2.5
bmanga95 0:772bf4786416 93 LSM303_MAGGAIN_4_0 = 0x80, // +/- 4.0
bmanga95 0:772bf4786416 94 LSM303_MAGGAIN_4_7 = 0xA0, // +/- 4.7
bmanga95 0:772bf4786416 95 LSM303_MAGGAIN_5_6 = 0xC0, // +/- 5.6
bmanga95 0:772bf4786416 96 LSM303_MAGGAIN_8_1 = 0xE0 // +/- 8.1
bmanga95 0:772bf4786416 97 } lsm303MagGain;
bmanga95 0:772bf4786416 98 /*=========================================================================*/
bmanga95 0:772bf4786416 99
bmanga95 0:772bf4786416 100 /*=========================================================================
bmanga95 0:772bf4786416 101 INTERNAL MAGNETOMETER DATA TYPE
bmanga95 0:772bf4786416 102 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 103 typedef struct lsm303MagData_s
bmanga95 0:772bf4786416 104 {
bmanga95 0:772bf4786416 105 float x;
bmanga95 0:772bf4786416 106 float y;
bmanga95 0:772bf4786416 107 float z;
bmanga95 0:772bf4786416 108 float orientation;
bmanga95 0:772bf4786416 109 } lsm303MagData;
bmanga95 0:772bf4786416 110 /*=========================================================================*/
bmanga95 0:772bf4786416 111
bmanga95 0:772bf4786416 112 /*=========================================================================
bmanga95 0:772bf4786416 113 INTERNAL ACCELERATION DATA TYPE
bmanga95 0:772bf4786416 114 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 115 typedef struct lsm303AccelData_s
bmanga95 0:772bf4786416 116 {
bmanga95 0:772bf4786416 117 float x;
bmanga95 0:772bf4786416 118 float y;
bmanga95 0:772bf4786416 119 float z;
bmanga95 0:772bf4786416 120 } lsm303AccelData;
bmanga95 0:772bf4786416 121 /*=========================================================================*/
bmanga95 0:772bf4786416 122
bmanga95 0:772bf4786416 123 /*=========================================================================
bmanga95 0:772bf4786416 124 CHIP ID
bmanga95 0:772bf4786416 125 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 126 #define LSM303_ID (0b11010100)
bmanga95 0:772bf4786416 127 /*=========================================================================*/
bmanga95 0:772bf4786416 128
bmanga95 0:772bf4786416 129 /* Unified sensor driver for the accelerometer */
bmanga95 0:772bf4786416 130 class Adafruit_LSM303_Accel_Unified : public Adafruit_Sensor
bmanga95 0:772bf4786416 131 {
bmanga95 0:772bf4786416 132 public:
bmanga95 0:772bf4786416 133 Adafruit_LSM303_Accel_Unified(int32_t sensorID = -1);
bmanga95 0:772bf4786416 134
bmanga95 0:772bf4786416 135 bool begin(void);
bmanga95 0:772bf4786416 136 void getEvent(sensors_event_t*);
bmanga95 0:772bf4786416 137 void getSensor(sensor_t*);
bmanga95 0:772bf4786416 138 void enableAutoRange(bool enable){}
bmanga95 0:772bf4786416 139
bmanga95 0:772bf4786416 140 private:
bmanga95 0:772bf4786416 141 lsm303AccelData _accelData; // Last read accelerometer data will be available here
bmanga95 0:772bf4786416 142 int32_t _sensorID;
bmanga95 0:772bf4786416 143
bmanga95 0:772bf4786416 144 void write8(byte address, byte reg, byte value);
bmanga95 0:772bf4786416 145 byte read8(byte address, byte reg);
bmanga95 0:772bf4786416 146 void read(void);
bmanga95 0:772bf4786416 147 };
bmanga95 0:772bf4786416 148
bmanga95 0:772bf4786416 149 /* Unified sensor driver for the magnetometer */
bmanga95 0:772bf4786416 150 class Adafruit_LSM303_Mag_Unified : public Adafruit_Sensor
bmanga95 0:772bf4786416 151 {
bmanga95 0:772bf4786416 152 public:
bmanga95 0:772bf4786416 153 Adafruit_LSM303_Mag_Unified(int32_t sensorID = -1);
bmanga95 0:772bf4786416 154
bmanga95 0:772bf4786416 155 bool begin(void);
bmanga95 0:772bf4786416 156 void enableAutoRange(bool enable);
bmanga95 0:772bf4786416 157 void setMagGain(lsm303MagGain gain);
bmanga95 0:772bf4786416 158 void getEvent(sensors_event_t*);
bmanga95 0:772bf4786416 159 void getSensor(sensor_t*);
bmanga95 0:772bf4786416 160
bmanga95 0:772bf4786416 161 private:
bmanga95 0:772bf4786416 162 lsm303MagGain _magGain;
bmanga95 0:772bf4786416 163 lsm303MagData _magData; // Last read magnetometer data will be available here
bmanga95 0:772bf4786416 164 int32_t _sensorID;
bmanga95 0:772bf4786416 165 bool _autoRangeEnabled;
bmanga95 0:772bf4786416 166
bmanga95 0:772bf4786416 167 void write8(byte address, byte reg, byte value);
bmanga95 0:772bf4786416 168 byte read8(byte address, byte reg);
bmanga95 0:772bf4786416 169 void read(void);
bmanga95 0:772bf4786416 170 };
bmanga95 0:772bf4786416 171
bmanga95 0:772bf4786416 172 #endif